Marliana, Eka (2025) Performance-Driven Design and Control System of A 3-PUU Parallel Machine for Friction Stir Welding. Doctoral thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Pengelasan Gesekan Aduk (FSW) telah muncul sebagai teknik penyambungan solid-state yang penting untuk paduan aluminium berkekuatan tinggi dan logam ringan, terutama dalam industri perkeretaapian. Namun, adopsi industrinya dengan memanfaatkan manipulator serial menghadapi tantangan karena kurangnya kekakuan. Untuk mengatasi keterbatasan ini, studi ini mengusulkan mekanisme paralel 3-PUU (Prismatik-Universal-Universal) dengan gerakan translasi 3-DoF, yang dirancang untuk memiliki indeks kinerja yang baik, sehingga akurasi yang lebih tinggi dapat dicapai. Pekerjaan ini berfokus pada pengoptimalan desain 3-PUU melalui pendekatan yang digerakkan oleh kinerja, memanfaatkan Indeks Pengondisian Lokal (LCI) untuk kinerja kinematik dan indeks isotropi dinamis (d1) untuk evaluasi dinamis. Sebuah atlas ruang desain dibangun untuk memetakan hubungan antara parameter geometris dan kinerja dalam dadu, mengidentifikasi wilayah konfigurasi yang optimal. Algoritma Genetika (GA) kemudian diterapkan untuk memilih satu desain optimal dari wilayah ini. Desain yang dihasilkan divalidasi melalui definisi ruang kerja kuboid dan eksekusi lintasan. Desain yang telah dioptimalkan selanjutnya divalidasi melalui eksperimen pelacakan lintasan, yang menunjukkan kinerja yang stabil di bawah beberapa strategi kontrol: PID, Fuzzy-PID GA, dan Fuzzy-PID-PSO. Sebuah prototipe fisik dibuat, dan uji eksperimental mengonfirmasi akurasi model kinematik dan dinamis dalam ruang kerja yang ditentukan. Hasil ini memberikan fondasi untuk penerapan industri, yang menunjukkan kemampuan mesin paralel 3-PUU untuk meningkatkan aplikasi FSW di lingkungan dengan keterbatasan ruang seperti manufaktur perkeretaapian
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Friction Stir Welding (FSW) has emerged as a critical solid-state joining technique for high-strength aluminum alloys and light metals, particularly in the railway indus try. However, its industrial adoption by utilizing a serial manipulator faces challenges due to the lack of rigidity. To overcome this limitation, this study proposes a 3-PUU (Prismatic-Universal-Universal) parallel mechanism with 3-DoF translational motion, designed to have good performance indices, thus higher accuracy can be achieved. The work focuses on optimizing the 3-PUU design through a performance-driven ap proach, utilizing the Local Conditioning Index (LCI) for kinematic performance and the dynamic isotropy index (d1) for dynamic evaluation. A design space atlas was constructed to map the relationship between geometric parameters and performance in dices, identifying an optimal configuration region. A Genetic Algorithm (GA) was then applied to select a single optimal design from this region. The resulting design was val idated through the definition of a cuboid workspace and the execution of the trajectory. The optimized design was further validated through trajectory-tracking experiments, demonstrating stable performance under several control strategies: PID, Fuzzy-PID GA, and Fuzzy-PID-PSO. A physical prototype was fabricated, and experimental tests confirmed the accuracy of the kinematic and dynamic models within the designated workspace. These results provide a foundation for industrial deployment, demonstrat ing the 3-PUU parallel machine’s capability to enhance FSW applications in space constrained environments like railway manufacturing.
| Item Type: | Thesis (Doctoral) |
|---|---|
| Uncontrolled Keywords: | Design, FSW, parallel machine, robot, 3-PUU, optimization, performance, fuzzy-PID |
| Subjects: | T Technology > TJ Mechanical engineering and machinery > TJ211 Robotics. |
| Divisions: | Faculty of Industrial Technology and Systems Engineering (INDSYS) > Mechanical Engineering > 21001-(S3) PhD Thesis |
| Depositing User: | Eka Marliana |
| Date Deposited: | 06 Aug 2025 02:22 |
| Last Modified: | 06 Aug 2025 08:36 |
| URI: | http://repository.its.ac.id/id/eprint/127717 |
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